FR3085656B1 - ROAD DETECTION METHOD FOR A MOTOR VEHICLE PROVIDED WITH A LIDAR SENSOR - Google Patents

ROAD DETECTION METHOD FOR A MOTOR VEHICLE PROVIDED WITH A LIDAR SENSOR Download PDF

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Publication number
FR3085656B1
FR3085656B1 FR1858137A FR1858137A FR3085656B1 FR 3085656 B1 FR3085656 B1 FR 3085656B1 FR 1858137 A FR1858137 A FR 1858137A FR 1858137 A FR1858137 A FR 1858137A FR 3085656 B1 FR3085656 B1 FR 3085656B1
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FR
France
Prior art keywords
lidar
motor vehicle
vehicle
plane
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1858137A
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French (fr)
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FR3085656A1 (en
Inventor
Farouk Ghallabi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1858137A priority Critical patent/FR3085656B1/en
Application filed by Renault SAS filed Critical Renault SAS
Priority to CN201980057927.XA priority patent/CN112673280A/en
Priority to KR1020217010105A priority patent/KR20210048552A/en
Priority to US17/274,304 priority patent/US20210333397A1/en
Priority to PCT/EP2019/068265 priority patent/WO2020052830A1/en
Priority to JP2021513205A priority patent/JP7410932B2/en
Priority to EP19735358.4A priority patent/EP3850397B1/en
Publication of FR3085656A1 publication Critical patent/FR3085656A1/en
Application granted granted Critical
Publication of FR3085656B1 publication Critical patent/FR3085656B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping

Abstract

Procédé de détection de route pour un véhicule automobile muni d'au moins un capteur LIDAR (1) multicouche rotatif et d'au moins un moyen de traitement de données, dans lequel on acquiert des données LIDAR de l'environnement du véhicule automobile, on supprime des données LIDAR acquises les données pour lesquelles l'angle du faisceau par rapport au plan du véhicule est supérieure ou égale à zéro, pour chaque angle du faisceau par rapport au plan du véhicule, et pour chaque donnée LIDAR, on détermine des coordonnées théoriques d'un point, correspondant à la donnée LIDAR, fonction notamment de l'angle du faisceau par rapport au plan du véhicule et de l'angle du faisceau dans le plan du véhicule, on détermine l'écart-type entre les coordonnées théoriques et les coordonnées de la donnée LIDAR, et on détermine que la donnée LIDAR fait partie de la route si l'écart-type est inférieur à un seuil prédéfini.Road detection method for a motor vehicle provided with at least one rotating multilayer LIDAR sensor (1) and at least one data processing means, in which LIDAR data of the environment of the motor vehicle are acquired, removes from the acquired LIDAR data the data for which the angle of the beam with respect to the plane of the vehicle is greater than or equal to zero, for each angle of the beam with respect to the plane of the vehicle, and for each LIDAR data, theoretical coordinates are determined of a point, corresponding to the LIDAR datum, a function in particular of the angle of the beam with respect to the plane of the vehicle and of the angle of the beam in the plane of the vehicle, the standard deviation between the theoretical coordinates and the coordinates of the LIDAR datum, and it is determined that the LIDAR datum is part of the road if the standard deviation is less than a predefined threshold.

FR1858137A 2018-09-11 2018-09-11 ROAD DETECTION METHOD FOR A MOTOR VEHICLE PROVIDED WITH A LIDAR SENSOR Active FR3085656B1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1858137A FR3085656B1 (en) 2018-09-11 2018-09-11 ROAD DETECTION METHOD FOR A MOTOR VEHICLE PROVIDED WITH A LIDAR SENSOR
KR1020217010105A KR20210048552A (en) 2018-09-11 2019-07-08 Road detection method for vehicles equipped with LIDAR sensor
US17/274,304 US20210333397A1 (en) 2018-09-11 2019-07-08 Method of road detection for an automotive vehicle fitted with a lidar sensor
PCT/EP2019/068265 WO2020052830A1 (en) 2018-09-11 2019-07-08 Method of road detection for an automotive vehicle fitted with a lidar sensor
CN201980057927.XA CN112673280A (en) 2018-09-11 2019-07-08 Road detection method for a motor vehicle equipped with a LIDAR sensor
JP2021513205A JP7410932B2 (en) 2018-09-11 2019-07-08 Method of road detection for automatic vehicles fitted with lidar sensors
EP19735358.4A EP3850397B1 (en) 2018-09-11 2019-07-08 Method of road detection for an automotive vehicle fitted with a lidar sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1858137A FR3085656B1 (en) 2018-09-11 2018-09-11 ROAD DETECTION METHOD FOR A MOTOR VEHICLE PROVIDED WITH A LIDAR SENSOR

Publications (2)

Publication Number Publication Date
FR3085656A1 FR3085656A1 (en) 2020-03-13
FR3085656B1 true FR3085656B1 (en) 2023-04-28

Family

ID=65201368

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1858137A Active FR3085656B1 (en) 2018-09-11 2018-09-11 ROAD DETECTION METHOD FOR A MOTOR VEHICLE PROVIDED WITH A LIDAR SENSOR

Country Status (7)

Country Link
US (1) US20210333397A1 (en)
EP (1) EP3850397B1 (en)
JP (1) JP7410932B2 (en)
KR (1) KR20210048552A (en)
CN (1) CN112673280A (en)
FR (1) FR3085656B1 (en)
WO (1) WO2020052830A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230271607A1 (en) * 2022-02-28 2023-08-31 Nissan North America, Inc. Vehicle lane marking detection system
CN116153057A (en) * 2022-09-12 2023-05-23 东北林业大学 Method for estimating lane width based on laser radar point cloud
CN115453549A (en) * 2022-09-13 2022-12-09 浙江科聪控制技术有限公司 Method for extracting environment right-angle point coordinate angle based on two-dimensional laser radar
CN117468941B (en) * 2023-12-28 2024-03-12 四川省铁路建设有限公司 Tunnel defect detection method based on intelligent self-checking trolley and self-checking trolley

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4523095B2 (en) 1999-10-21 2010-08-11 富士通テン株式会社 Information processing apparatus, information integration apparatus, and information processing method
US8699755B2 (en) * 2009-02-20 2014-04-15 Navteq B.V. Determining travel path features based on retroreflectivity
JP5267592B2 (en) 2010-04-09 2013-08-21 株式会社デンソー Object recognition device
JP2012225806A (en) 2011-04-20 2012-11-15 Toyota Central R&D Labs Inc Road gradient estimation device and program
US9110196B2 (en) * 2012-09-20 2015-08-18 Google, Inc. Detecting road weather conditions
JP6453701B2 (en) 2015-04-23 2019-01-16 株式会社デンソー Posture estimation device
CN104950313B (en) 2015-06-11 2017-11-07 同济大学 Extract and identification of road grade method on a kind of road surface
US20180211119A1 (en) * 2017-01-23 2018-07-26 Ford Global Technologies, Llc Sign Recognition for Autonomous Vehicles

Also Published As

Publication number Publication date
CN112673280A (en) 2021-04-16
FR3085656A1 (en) 2020-03-13
JP2022503671A (en) 2022-01-12
WO2020052830A1 (en) 2020-03-19
JP7410932B2 (en) 2024-01-10
KR20210048552A (en) 2021-05-03
US20210333397A1 (en) 2021-10-28
EP3850397B1 (en) 2024-01-10
EP3850397A1 (en) 2021-07-21

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